Exoskeleton wearable equipment driving system

Abstract

The utility model discloses an exoskeleton wearing equipment driving system in the field of exoskeleton driving, which comprises four driving mechanisms respectively positioned at a left hip joint, a right hip joint, a left knee joint and a right knee joint, each driving mechanism comprises a driving motor, and an output shaft of each driving motor and an input end of a reduction gear set are coaxially arranged. The output end of the reduction gear set is coaxially provided with a rotating shaft, the periphery of the rotating shaft is sleeved with a large gear, the end of the rotating shaft is provided with an action executing piece, the large gear is meshed with a small gear, the small gear and the rotary encoder are coaxially arranged, the reduction gear set is arranged in a protective shell, the driving motor is arranged on the protective shell, and the protective shell is fixed to the outer supporting plate through a fastener. A partition plate is arranged on the inward side of the outer supporting plate corresponding to the outer side of the large gear and the outer side of the small gear, an inner supporting plate is arranged on the outward side of the partition plate, a crossed roller bearing is arranged on the inner supporting plate, and the action executing piece is connected with an inner ring of the crossed roller bearing through a fastener. The utility model has the characteristics of compact structure and high precision.

Description

Technical Field

[0001] This utility model belongs to the field of exoskeleton driving technology, and specifically relates to a driving system for an exoskeleton wearable device. Background Technology

[0002] Exoskeletons are primarily used in rehabilitation medicine, military, and industrial fields to help enhance human function or assist in movement. The drive system is a critical component that directly affects the robot's performance.

[0003] Traditional exoskeleton joint actuators often employ a separate design for the motor and reducer (such as a harmonic reducer + external servo motor), resulting in a bulky structure that fails to meet the lightweight requirements of wearable devices. In particular, the hip / knee joints need to simultaneously bear the weight of the human body and dynamic loads, and the spatial layout efficiency of the motor and transmission components in existing technologies is relatively low. Utility Model Content

[0004] The purpose of this invention is to provide a drive system for an exoskeleton wearable device, whose compact structure and high precision characteristics can effectively reduce wearer fatigue and improve motion adaptability.

[0005] The purpose of this utility model is achieved as follows: A drive system for an exoskeleton wearable device includes four drive mechanisms located at the left hip joint, right hip joint, left knee joint, and right knee joint, respectively. Each drive mechanism includes a drive motor, the output shaft of which is coaxially arranged with the input end of a reduction gear set. A rotating shaft is coaxially arranged with the output end of the reduction gear set. A large gear is sleeved on the outer circumference of the rotating shaft, and an actuating component is provided at its end. The large gear meshes with a small gear, and the small gear is coaxially arranged with a rotary encoder. The reduction gear set is disposed inside a protective shell, and the drive motor is disposed on the protective shell. The protective shell is fixed to an outer support plate by fasteners. A spacer plate is provided on the inward side of the outer support plate corresponding to the outer side of the large and small gears. An inner support plate is provided on the outward side of the spacer plate. A crossed roller bearing is disposed on the inner support plate, and the actuating component is fixedly connected to the inner ring of the crossed roller bearing by fasteners.

[0006] In use, this invention involves a drive motor receiving commands from the controller and outputting high-speed, low-torque power. This power is transmitted to the input end of a reduction gear set via a coaxial direct connection. The reduction gear set reduces the motor speed and amplifies the torque, driving a large gear to rotate via a rotating shaft. The large gear is rigidly connected to the actuator, transmitting power to the human joint to complete the swinging motion. Compared with existing technologies, the advantages of this invention are: by using a coaxial design between the motor output shaft and the input end of the reduction gear set, combined with bidirectional support of the rotating shaft by crossed roller bearings, the axial dimension of the drive mechanism is reduced by more than 30%, meeting the compactness requirements of human joints; a pinion-rotary encoder module is added to the output end of the reduction gear set to directly monitor the actual position of the actuator, compensate for gear transmission errors, and improve control accuracy; a sandwich structure combining an outer support plate, a spacer plate, and an inner support plate suppresses gear meshing vibration, and the crossed roller bearings support the actuator, bearing combined radial, axial, and torque loads, improving the joint's lateral bending stiffness and reducing the risk of abnormal gear wear.

[0007] As a further improvement of this utility model, the rotating shaft is provided with a positioning key along its length direction, and a turntable is sleeved on its outer periphery. An arc-shaped limiting groove is provided on the turntable, and a positioning element is provided on the inner support plate. The positioning element can slide within the arc-shaped limiting groove.

[0008] As a further improvement of this utility model, a first rotating bearing is provided between the protective shell and the rotating shaft, a second rotating bearing is provided between the outer support plate and the rotating shaft, and a third rotating bearing is provided between the inner support plate and the rotating shaft.

[0009] As a further improvement of this utility model, the rotary encoder is disposed on the outer side of the outer support plate, and the outer support plate has a clearance hole corresponding to the pinion.

[0010] As a further improvement of this utility model, the inner support plate is provided with an observation window corresponding to the pinion.

[0011] As a further improvement of this utility model, the spacer plate has an annular structure and is coaxially arranged with the large gear, and a clearance groove is provided for the corresponding small gear.

[0012] As a further improvement of this utility model, the outer support plate includes a connecting part one and a connecting part two that is adapted to the shape of the partition plate. The connecting part two, the partition plate and the inner support plate are connected as a whole by fasteners.

[0013] As a further improvement of this utility model, the reduction gear set includes a gear one coaxially arranged with the output shaft of the drive motor, the gear one meshing with a gear two, the gear two coaxially arranged with a gear three, the gear three meshing with a gear four, and the gear four coaxially arranged with a large gear.

[0014] As a further improvement of this utility model, the actuating component is one of the following: left femoral connecting plate, right femoral connecting plate, left tibial connecting plate, and right tibial connecting plate. Attached Figure Description

[0015] Figure 1 This is an exploded view of the drive mechanism of this utility model.

[0016] Figure 2 This is a schematic diagram of the reduction gear set of this utility model.

[0017] Figure 3 This is a three-dimensional structural diagram of the exoskeleton robot that includes this utility model.

[0018] The components include: 1. Drive motor; 2. Reduction gear set; 201 Gear 1; 202 Gear 2; 203 Gear 3; 204 Gear 4; 3. Rotary shaft; 4. Large gear; 5. Small gear; 6. Rotary encoder; 7. Protective shell; 8. Outer support plate; 801 Clearance hole; 9. Spacer plate; 901 Clearance groove; 10. Inner support plate; 1001 Observation window; 11. Cross roller bearing; 1101 Inner ring; 12. Left femoral connection plate; 13. Right femoral connection plate; 14. Left tibia connection plate; 15. Right tibia connection plate; 16. Positioning key; 17. Turntable; 1701 Limiting groove; 18. Positioning component; 19. Rotary bearing 1; 20. Rotary bearing 2; 21. Rotary bearing 3. Detailed Implementation

[0019] like Figure 1-3 The diagram shows a drive system for an exoskeleton wearable device, comprising four drive mechanisms located at the left hip joint, right hip joint, left knee joint, and right knee joint. Each drive mechanism includes a drive motor 1. The output shaft of the drive motor 1 is coaxially aligned with the input end of a reduction gear set 2. A rotating shaft 3 is coaxially aligned with the output end of the reduction gear set 2. A large gear 4 is sleeved around the outer circumference of the rotating shaft 3, and an actuator is located at its end. The large gear 4 meshes with a small gear 5, which is coaxially aligned with a rotary encoder 6. The reduction gear set 2 is housed within a protective casing 7. The drive motor 1 is... The protective shell 7 is placed on the outer support plate 8 by fasteners. The outer support plate 8 has a spacer 9 on the inner side corresponding to the outer side of the large gear 4 and the small gear 5. The inner support plate 10 is provided on the outer side of the spacer 9. The inner support plate 10 has a cross roller bearing 11 on its side. The actuator is fixedly connected to the inner ring 1101 of the cross roller bearing 11 by fasteners. Specifically, the actuator is one of the left femoral connecting plate 12, the right femoral connecting plate 13, the left tibia connecting plate 14, and the right tibia connecting plate 15.

[0020] The rotating shaft 3 is provided with a positioning key 16 along its length direction, and a turntable 17 is sleeved on its outer periphery. The positioning key 16 realizes the circumferential fixation of the rotating shaft 3 and the turntable 17, ensuring zero phase difference in torque transmission. The turntable 17 is provided with an arc-shaped limiting groove 1701, and the inner support plate 10 is provided with a positioning element 18. The positioning element 18 can slide in the arc-shaped limiting groove 1701 to form a sliding pair, limiting the joint movement within a preset arc range.

[0021] A rotating bearing 19 is provided between the protective shell 7 and the rotating shaft 3 to bear axial force and part of the radial force; a rotating bearing 20 is provided between the outer support plate 8 and the rotating shaft 3 to bear a large radial load; a rotating bearing 21 is provided between the inner support plate 10 and the rotating shaft 3 to provide auxiliary support and ensure concentricity; multi-point support can reduce shaft deflection and improve rigidity and rotational accuracy.

[0022] The rotary encoder 6 is located on the outside of the outer support plate 8. The outer support plate 8 has a clearance hole 801 corresponding to the pinion 5 to reduce interference. The inner support plate 10 has an observation window 1001 corresponding to the pinion 5. The spacer plate 9 has a ring structure and is coaxially arranged with the large gear 4, which can reduce the eccentric force caused by installation error, thereby reducing wear and vibration. It has a clearance groove 901 corresponding to the pinion 5.

[0023] The outer support plate 8 includes a connecting part one and a connecting part two. The connecting part two, the partition plate 9 and the inner support plate 10 are connected as one unit by fasteners. The connecting part two is adapted to the shape of the partition plate 9, which can increase the contact area, further improve the stability of the connection, and reduce vibration and noise.

[0024] The reduction gear set 2 includes a gear 1 201 coaxially arranged with the output shaft of the drive motor 1. Gear 1 201 meshes with gear 2 202. Gear 2 202 is coaxially arranged with gear 3 203. Gear 3 203 meshes with gear 4 204. Gear 4 204 is coaxially arranged with the large gear 4 through the rotating shaft 3. The three-stage reduction structure can achieve a large overall reduction ratio while ensuring a compact structure.

[0025] In use, after the drive motor 1 starts, the output shaft transmits power to the input end of the reduction gear set 2 via a coaxial direct connection. Gear 202 and coaxial gear 303 work together to drive the final gear 404 to complete multi-stage reduction. Finally, gear 404 meshes with the large gear 4 to output the target torque. The large gear 4 rotates with the rotating shaft 3 and drives the actuator through the cross roller bearing to complete the joint flexion and extension movement. The rotary encoder 6, coaxial with the pinion 5, detects the output speed and position in real time, and the data is transmitted to the controller via the CAN bus. The controller (STM32H7 series) compares the target trajectory with the actual position and uses a PID+feedforward algorithm to adjust the motor current to complete torque compensation. The advantages of this invention are: the exoskeleton drive system achieves breakthroughs in power density, control accuracy, and reliability through deep electromechanical coupling and modular innovative design, filling the gap in the medical rehabilitation field for high-precision, highly adaptable, and low-cost drive technology.

[0026] This utility model is not limited to the above embodiments. Based on the technical solutions disclosed in this utility model, those skilled in the art can make some substitutions and modifications to some of the technical features without creative labor, and these substitutions and modifications are all within the protection scope of this utility model.

Claims

1. A drive system for a wearable exoskeleton device, characterized in that, The device includes four drive mechanisms located at the left hip joint, right hip joint, left knee joint, and right knee joint, respectively. Each drive mechanism includes a drive motor, the output shaft of which is coaxially arranged with the input end of a reduction gear set. A rotating shaft is coaxially arranged with the output end of the reduction gear set. A large gear is sleeved on the outer circumference of the rotating shaft, and an actuator is provided at the end. The large gear meshes with a small gear, and the small gear is coaxially arranged with a rotary encoder. The reduction gear set is housed inside a protective housing, and the drive motor is mounted on the protective housing. The protective housing is fixed to an outer support plate by fasteners. A spacer plate is provided on the inward side of the outer support plate corresponding to the outer side of the large and small gears. An inner support plate is provided on the outward side of the spacer plate, and a crossed roller bearing is provided on the inner support plate. The actuator is fixedly connected to the inner ring of the crossed roller bearing by fasteners.

2. The exoskeleton wearable device drive system according to claim 1, characterized in that, The rotating shaft is provided with a positioning key along its length, and a turntable is sleeved on its outer periphery. An arc-shaped limiting groove is provided on the turntable, and a positioning element is provided on the inner support plate. The positioning element can slide within the arc-shaped limiting groove.

3. The exoskeleton wearable device drive system according to claim 1, characterized in that, A first rotating bearing is provided between the protective shell and the rotating shaft, a second rotating bearing is provided between the outer support plate and the rotating shaft, and a third rotating bearing is provided between the inner support plate and the rotating shaft.

4. The exoskeleton wearable device drive system according to claim 1, characterized in that, The rotary encoder is located on the outside of the outer support plate, and the outer support plate has a clearance hole corresponding to the pinion.

5. The exoskeleton wearable device drive system according to claim 1, characterized in that, The inner support plate has an observation window corresponding to the pinion.

6. The exoskeleton wearable device drive system according to claim 1, characterized in that, The spacer plate has an annular structure and is coaxially arranged with the large gear, and a clearance groove is provided for the corresponding small gear.

7. The exoskeleton wearable device drive system according to claim 1, characterized in that, The outer support plate includes a first connecting part and a second connecting part that is adapted to the shape of the partition plate. The second connecting part, the partition plate, and the inner support plate are connected as a whole by fasteners.

8. The exoskeleton wearable device drive system according to claim 1, characterized in that, The reduction gear set includes a gear one coaxially arranged with the output shaft of the drive motor, the gear one meshing with a gear two, the gear two coaxially arranged with a gear three, the gear three meshing with a gear four, and the gear four coaxially arranged with a large gear.

9. The exoskeleton wearable device drive system according to claim 1, characterized in that, The actuator is one of the following: left femoral connection plate, right femoral connection plate, left tibial connection plate, and right tibial connection plate.

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